OK to remove steering linkage to remove starter?

Be better off to loosen up the motor mounts and jack the engine up a little, because for one it would be easier and for two it wont destroy your grease boots on the steering joints.
Also, have you tried turning your steering all the way one way or the other and see if it comes out?
OP -- Did you try this? takes less than 60 seconds to loosen the driver side motor mount (1 nut), raise the motor a little using a jack on the oil pan favoring the drivers side of the motor (board between the jack and pan).